lhiggs CSUM
/
UM6_IMU_AHRS_2012
Communication program for the chrobotics UM6 9-DOF IMU AHRS.
UM6_usart/UM6_usart.h
- Committer:
- lhiggs
- Date:
- 2012-09-28
- Revision:
- 0:03c649c76388
File content as of revision 0:03c649c76388:
/* ______________________________________________________________________________________ File: UM6_usart.h Author: CH Robotics, adapted for mbed by lhiggs Version: 1.0 Description: Function declarations for USART communucation -------------------------------------------------------------------------------------- */ #ifndef _CHR_USART_H #define _CHR_USART_H #define MAX_PACKET_DATA 40 // Definitions of states for USART receiver state machine (for receiving packets) #define USART_STATE_WAIT 1 #define USART_STATE_TYPE 2 #define USART_STATE_ADDRESS 3 #define USART_STATE_DATA 4 #define USART_STATE_CHECKSUM 5 // Flags for interpreting the packet type byte in communication packets #define PACKET_HAS_DATA (1 << 7) #define PACKET_IS_BATCH (1 << 6) #define PACKET_BATCH_LENGTH_MASK ( 0x0F ) #define PACKET_BATCH_LENGTH_OFFSET 2 #define BATCH_SIZE_2 2 #define BATCH_SIZE_3 3 #define PACKET_NO_DATA 0 #define PACKET_COMMAND_FAILED (1 << 0) // Define flags for identifying the type of packet address received #define ADDRESS_TYPE_CONFIG 0 #define ADDRESS_TYPE_DATA 1 #define ADDRESS_TYPE_COMMAND 2 extern uint8_t gUSART_State; // Structure for storing TX and RX packet data typedef struct _USARTPacket { uint8_t PT; // Packet type uint8_t address; // Packet address uint16_t checksum; // Checksum // Data included for convenience, but that isn't stored in the packet itself uint8_t data_length; // Number of bytes in data section uint8_t address_type; // Specified the address type (DATA, CONFIG, OR COMMAND) uint8_t packet_data[MAX_PACKET_DATA]; } USARTPacket; uint16_t ComputeChecksum( USARTPacket* new_packet ); #endif